Table Of ContentVorticity and Symplecticity in Multi-Symplectic,
Lagrangian Gas Dynamics
6
1
0 G.M. Webb1 and S.C. Anco2
2 1
Center for Space Plasma and Aeronomic Research, The University of Alabama in
n
Huntsville, Huntsville AL 35805, USA
a
2
J Department of Mathematics, Brock University, St. Catherines, ON L2S 3A1 Canada
9 E-mail: [email protected]
1
] Abstract.
h
p The Lagrangian, multi-dimensional, ideal, compressible gasdynamic equations are
- written in a multi-symplectic form, in which the Lagrangian fluid labels, mi (the
h
t Lagrangianmass coordinates) and time t are the independent variables, and in which
a theEulerianpositionofthefluidelementx=x(m,t)andtheentropyS =S(m,t)are
m
the dependent variables. Constraints in the variational principle are incorporated by
[
means of Lagrange multipliers. The constraints are: the entropy advection equation
1 S = 0, the Lagrangian map equation x = u where u is the fluid velocity, and the
t t
v
masscontinuityequationwhichhastheformJ =τ whereJ =det(x )istheJacobian
1 ij
3 of the Lagrangian map in which xij = ∂xi/∂mj and τ = 1/ρ is the specific volume
0 of the gas. The internal energy per unit volume of the gas ε = ε(ρ,S) corresponds
5
to a non-barotropic gas. The Lagrangian is used to define multi-momenta, and to
0
. develop de-Donder Weyl Hamiltonian equations. The de Donder Weyl equations are
1
castinamulti-symplectic form. The pullbackconservationlawsandthe symplecticity
0
6 conservation laws are obtained. One class of symplecticity conservation laws give
1 rise to vorticity and potential vorticity type conservation laws, and another class of
:
v symplecticitylawsarerelatedtoderivativesoftheLagrangianenergyconservationlaw
i with respect to the Lagrangian mass coordinates mi. We show that the vorticity-
X
symplecticity laws can be derived by a Lie dragging method, and also by using
r
a Noether’s second theorem and a fluid relabelling symmetry which is a divergence
symmetryoftheaction. WeobtaintheCartan-Poincar´eformdescribingtheequations
and we discuss a set of differential forms representing the equation system.
PACS numbers: 02.30.JR, 02.40Yy, 47.10Df, 47.10A, 47.10.ab
J. Phys. A., Math. and Theor., 49 (2016) 075501, doi:10.1088/1751-8133/49/7/075501
Keywords: gas dynamics, symplecticity, multi-symplectic, conservation laws, vorticity
Vorticity and Symplecticity in Lagrangian Gas Dynamics 2
1. Introduction
Multi-momentum, Hamiltonian systems were developed by de Donder (1930) and
Weyl (1935). They obtained a generalization of Hamiltonian mechanics by using
multi-momentum maps, in which there can be more than one generalized momentum
corresponding toeachcanonicalcoordinateq. Inthisapproachtimetinafixedreference
frame is not the only evolution variable in the equations (e.g. the system can also
be thought of as evolving in the space variables). The de Donder Weyl Hamiltonian
equations apply to action principles in which the Lagrangian L = L(x,ϕi,∂ϕi/∂xµ)
where x are the independent variables and the ϕk are the dependent variables (1 ≤ k ≤
m say, k integer), which includes at least two independent partial derivatives ∂ϕk/∂xs,
(1 ≤ s ≤ n, n ≥ 2). Webb (2015) cast the equations of ideal, 1D, Lagrangian gas
dynamics in the de Donder-Weyl Hamiltonian form. In this development, the dependent
variables are the Eulerian particle position x = x(m,t) and gas entropy S = S(m,t)
where S = 0. The multi-momenta for the system are the variables: πt = ∂L/∂x
t x t
and πm = ∂L/∂x and πt = ∂L/∂S where L is the Lagrangian for the system.
x m S t
The de Donder-Weyl Hamiltonian equations, obtained by using a generalized Legendre
transformation, were also cast in multi-symplectic form (see e.g. Hydon (2005) for a
clear description of multi-symplectic systems of differential equations).
There is an extensive literature on multi-momentum and multi-symplectic systems
(e.g. Kanatchikov (1993,1997,1998), Forger et al. (2003), Forger and Gomes (2013),
Forger and Romero (2005), Forger and Salles (2015), Gotay (1991a,b), Gotay et al.
(2004a,b), Roman Roy (2009), Marsden et al. (1986), Marsden and Shkoller (1999),
Carenina et al. (1991), Bridges et al. (2005,2010) and Cantrijn et al. (1999)).
Anco and Dar (2009) carry out a Lie symmetry analysis and classification of
conservation laws of compressible isentropic flow in n > 1 spatial dimensions. Anco
and Dar (2010) extended their (2009) analysis to the case of non-isentropic, inviscid
flow in n > 1 spatial dimensions. They give both the symmetries and conservation
laws due to the ten Galilean point symmetries of the equations, as well as conservation
laws associated with helicity and vorticity. Anco, Dar and Tufail (2015) generalize
their symmetry analysis to determine conserved integrals for inviscid, compressible
fluid flow in Riemannian manifolds, for moving domains, in which Killing’s equations
and curl free homothetic Killing vectors play an important role. Cheviakov (2014)
has derived new conservation laws for fluid systems involving vorticity and vorticity
related equations (potential type systems) including magnetohydrodynamics (MHD)
and Maxwell’s equations. Cheviakov and Oberlack (2014) derive generalized Ertel’s
theorems and infinite heirarchies of conserved quantities for the Euler and Navier Stokes
equations. Kelbin et al. (2013) obtain new conservation laws in helically symmetric,
plane and rotationally symmetric flows. Webb et al. (2014a,b,2015) and Webb and
Mace (2015) obtained advected invariant conservation laws in MHD.
Cotter et al. (2007) derived multi-symplectic equations for fluid type systems by
usingthemomentummapassociatedwiththeconstraintequationsandClebschvariables
Vorticity and Symplecticity in Lagrangian Gas Dynamics 3
of the system. Cotter et al. (2007) used the Euler-Poincar´e approach to Hamiltonian
systems developed by Holm et al. (1998). Multi-symplectic systems admit conservation
laws associated with the pullback of the differential forms describing the system to
the base manifold, and also satisfy the symplecticity conservation laws associated with
the conservation of phase space following the flow (e.g. Hydon (2005), Bridges et
al. (2010)). Noether’s theorem for multi-symplectic systems is described by Hydon
(2005) and Bridges et al. (2010). Bridges et al. (2005) show how Ertel’s theorem for
ideal, incompressible fluids arises in a multi-symplectic form of the ideal fluid equations.
Webb et al. (2014c,2015) gave a multi-symplectic formulation of MHD by using Clebsch
variables in an Eulerian variational principle. Webb and Mace (2015) used Noether’s
second theorem and a non-field aligned fluid relabelling symmetry to derive a potential
vorticity type conservation law for MHD. Holm at al. (1983) derived Hamiltonian
fluid equations using Lagrangian and Eulerian Poisson bracket formulations, semi-
direct product Lie algebras, and non-canonical Poisson brackets (e.g. Morrison and
Greene (1980,1982), Morrison (1982)). Mansfield (2010) and Goncalves and Mansfield
(2012,2014) extended the work of Fels and Olver (1998,1999) to develop an invariant
form of Noether’s theorem, using moving frames.
Our basic variational approach uses Lagrange multipliers to impose constraints on
the action. These include, the mass continuity equation, and the entropy advection
equation. A recent account of the use of Clebsch variables to represent rotational flows,
is the work of Fukugawa and Fujitani (2010). They obtain Clebsch expansions for the
fluid velocity u of the form:
2
u = ∇φ−r∇S − β ∇A , (1.1)
α α
α=1
X
where the Lagrange multipliers φ and r ensure that the mass continuity equation and
the entropy advection equation are satisfied. The vorticity of the fluid from (1.1) is
given by:
2
ω = ∇×u = −∇r ×∇S − ∇β ×∇A . (1.2)
α α
α=1
X
Equation (1.2) shows in general, that the vorticity ω 6= 0 for isentropic flows, in which
S = const.. Fukugawa and Fujitani (2010) show that the β ∇A terms in the Clebsch
α α
expansion (1.1) for u results from requiring that the endpoints of the variational path,
described by the intersection of the three surfaces A (x,t) = const., (1 ≤ i ≤ 3) is
i
required to have zero variation δA = 0 at the endpoints at the initial and final times
i
t = t and t = t . The A are functions of the Lagrange labels, a and are advected
init final i
withtheflow. TheEuleriandensityρ(x,t) = ρ (a)j wherej = ∂(A ,A ,A )/∂(x,y,z)is
o 1 2 3
theJacobianofthetransformationofthelabelsA andtheEulerianpositioncoordinates
i
(x,y,z). The sum in (1.1) is the Lin constraint term, associated with fluid spin in the
absence of entropy gradients.
Yoshida (2009) studied the Clebsch expansion u = ∇φ+α∇β and the completeness
of the expansion. The expansion of an arbitrary vector field is incomplete if the
Vorticity and Symplecticity in Lagrangian Gas Dynamics 4
field cannot be expanded in the form (1.1). He showed that the generalized Clebsch
expansion:
ν
u = ∇φ+ α ∇βj, (1.3)
j
j=1
X
is complete in general if ν = n−1, where n is the number of independent variables. But,
ifitisnecessarytocontroltheboundaryvaluesofφ,α andβj (e.g. inordertodetermine
j
them uniquely), then ν = n. Russo and Smereka (1999) use a Clebsch description of
incompressible fluid dynamics using gauge transformations for the potential φ in the
equations.
Another approach to Clebsch expansions (1.1) for u is to use gauge field theory
(e.g. Kambe (2007,2008), see also Jackiw (2002) for the application of gauge field
theory to fluid dynamics). In the latter approach (Kambe (2008)), the β ∇A terms in
α α
the Clebsch expansion (1.1) are due to the fluid relabelling symmetries corresponding
to rotations in Lagrange label space. In this approach, the Lagrange multipliers used
in the variational principle act as gauge potentials, and there are in general gauge
transformations that leave u invariant. A related issue for Clebsch potentials is their
multi-valued nature. For example, for the MHD topological soliton (e.g. Kamchatnov
1982; Semenov et al. 2002) the magnetic field induction B = ∇ × A has a nontrivial
topological structure, which is related to the Hopf fibration. Semenov et al. (2002)
derive complicated magnetic field structures, in which the magnetic vector potential
has the form A = α∇β+∇K, in which the potential K is not a global potential which
has jumps and singularities. Thus, one can obtain magnetic field structures in which
the field lies on a Moebius band. Similar non-trivial topological structures with non-
global magnetic vector potentials and Clebsch potentials arise in the description of the
magnetic monopole field (Urbantke 2003).
OuranalysisusesClebschpotentialsinaLagrangianvariationalprinciple. However,
we do not need the Clebsch potential form for the fluid velocity in our analysis, since
we stick with the Lagrangian form of the variational principle. It turns out that the
Lin constraint terms in the variational principle are decoupled from the other Euler
Lagrange equations in the Lagrangian variational principle. We discuss the connection
of our Lagrangian variational principle to an equivalent Eulerian variational principle
in Appendix A. We impose the condition ∂xk(a,t)/∂t = uk in our variational principle,
which is reminiscent of the work of Skinner and Rusk (1983a, 1983b) on generalized
Hamiltonian dynamics. The details of our variational approach are described in Section
3 of the paper.
The main aim of this paper is to extend the multi-symplectic, Lagrangianequations
for fluid dynamics obtained by Bridges et al. (2005) to more general equations of state
for the compressible gas dynamics case. Like Bridges et al. (2005), we study the
connection between the pullback and symplecticity conservation laws and vorticity and
potential vorticity. Bridges et al. (2005) derived potential vorticity conservation laws
associated with the fluid relabelling symmetry (e.g. Padhye and Morrison (1996a,b),
Vorticity and Symplecticity in Lagrangian Gas Dynamics 5
Padhye (1998)).
Section 2 gives the Eulerian fluid equations, and a physical discussion of the
interaction between the flow kinetic energy and internal energy of the gas. Section 3
provides a Lagrangian action principle, in which Lagrange multipliers are used to
ensure that the entropy is advected with the flow, and to formally define the fluid
velocity as ui = ∂xi(m,t)/∂t. An external gravitational potential Φ(x) is included in
the Lagrangian to take into account external gravitational fields (e.g. in stellar wind
theory, Φ(x) would be the gravitational potential of the star). Because of the non-
isobaric equation of state, the conservation laws can be nonlocal, since they involve
the Lagrange multiplier r used to ensure dS/dt = 0 in the variational principle. The
variable r is essentially a Clebsch potential (e.g. Zakharov and Kuznetsov (1997),
Morrison(1998)),which isanonlocalpotentialnotusuallyregardedasapartofthefluid
equations. The standard infinite dimensional Hamiltonian functional formulation and
Poisson bracket (e.g. Morrison (1998)) is discussed. Section 4 introduces the de Donder
Weyl multi-momentum formulation. The multi-symplectic, Lagrangian equations, and
the pullback and symplecticity conservation laws are obtained in Section 5. The
symplecticity conservation laws are used to derive Ertel’s theorem. The vorticity-
symplecticity conservation laws are also obtained by using a Lie dragging approach
(e.g. Tur and Yanovsky (1993),Webb et al. (2014a)). The vorticity flux component
that is independent of entropy gradients is Lie dragged by the flow, and gives rise to a
conservation law analogous to Faraday’s law for the advection of magnetic flux in MHD.
The vorticity-symplecticity conservation laws are also derived by using Noether’s second
theorem, in conjunction with a fluid relabelling symmetry due to mass conservation and
by using a divergence symmetry of the action (gauge symmetry). Section 7 discusses
variational principles and the Cartan-Poincar´e form equations for the multi-symplectic
equations of Section 5. A class of exterior differential forms representing the equation
system is obtained (see e.g. Harrison and Estabrook (1971)). It is shown that the ideal
offorms extracted fromthe variationalprinciples is aclosed ideal offormsthat represent
the multi-symplectic system.
In Appendix A, we discuss the Lagrangian variational principle on which our
analysis is based. We discuss both the algebraic form of the mass continuity equation
J = τ where J = det(x ) is the determinant of the Lagrangian map, and τ = 1/ρ
ij
is the specific volume, as well as the derivative form of the mass continuity equation
d/dt(J −τ) = 0. Appendix B discusses the form of the multi-symplectic equations for
the case of n = 2 independent Lagrangian mass coordinates. Appendix C gives some
formulasfromWebbetal. (2014c)usedinNoether’stheorem, andAppendix Ddiscusses
an application of the Eulerian Clebsch variational principle (Zakharov and Kuznetsov
(1997)) to verify a conservation law.
Section 8 concludes with a summary and discussion. We note that the vorticity-
symplecticity conservation law for a non-barotropic gas is non-local as it involves the
nonlocal Clebsch variable r. This implies that the pullback conservation law associated
with m-translation invariance, and the vorticity-symplecticity conservation laws are
Vorticity and Symplecticity in Lagrangian Gas Dynamics 6
nonlocal. These results are clearly of interest in atmospheric dynamics for vortex fluid
motions (e.g. tornadoes and Rossby waves) where baroclinicity (non-alignment of the
gas pressure and density gradients) will generate vorticity.
2. Fluid dynamics model
The time dependent, ideal, inviscid equations of Eulerian gas dynamics, consist of the
mass continuity equation, the Euler momentum equation for the gas, and an equation
of state for the gas. The mass continuity equation is:
∂ρ
+∇·(ρu) = 0. (2.1)
∂t
The Euler momentum equation for the fluid can be written in the form:
∂u 1
+u·∇u = − ∇p−∇Φ(x), (2.2)
∂t ρ
(cid:18) (cid:19)
where Φ(x) is the gravitational potential of an external gravitational field. The entropy
S is advected with the flow, i.e.
∂
+u·∇ S = 0. (2.3)
∂t
(cid:18) (cid:19)
Here p, ρ, u and S are the pressure, density, fluid velocity and entropy of the gas
respectively.
Equations (2.1)-(2.3) are supplemented by an equation of state for the gas (e.g.
p = p(ρ,S)), which is related to first law of thermodynamics by the equation:
1
TdS = dQ = de+pdτ where τ = , (2.4)
ρ
is the specific volume for the gas. For ideal gases TdS/dt = dQ/dt = 0 where
d/dt = ∂/∂t+u·∇ is the Lagrangian time derivative moving with the flow. The internal
energy per unit mass e is related to the internal energy per unit volume ε(ρ,S) by the
equation e(τ,S) = τε(ρ,S). Equation (2.4) written in the form:
1 ε+p
TdS = (dε−wdρ) where w = , (2.5)
ρ ρ
defines the gas enthalpy w. For ε = ε(ρ,S), (2.5) gives:
ρT = ε , w = ε , p = ρε −ε. (2.6)
S ρ ρ
From (2.4) we also obtain:
1
TdS = dw−τdp or − ∇p = T∇S −∇w. (2.7)
ρ
Vorticity and Symplecticity in Lagrangian Gas Dynamics 7
From (2.5), the entropy advection equation TdS/dt = 0 can be written in the form:
dε dρ
−w = 0. (2.8)
dt dt
Using the mass continuity equation (1/ρ)dρ/dt = −∇·u in (2.8), the comoving energy
equation (2.8) reduces to its Eulerian form:
∂ε
+∇·(ρuw)−u·∇p = 0. (2.9)
∂t
Taking the scalar product of the Euler momentum equation with ρu and using the
mass continuity equation (2.1) we obtain the kinetic energy and gravitational energy
equation:
∂ 1 1
ρu2 +ρΦ(x) +∇· ρu u2 +Φ(x) +u·∇p = 0. (2.10)
∂t 2 2
(cid:18) (cid:19) (cid:20) (cid:18) (cid:19)(cid:21)
Adding (2.9) and (2.10) gives the total energy equation for the system in the form:
∂ 1 1
ρu2 +ε(ρ,S)+ρΦ(x) +∇· ρu u2 +Φ(x)+w = 0. (2.11)
∂t 2 2
(cid:18) (cid:19) (cid:20) (cid:18) (cid:19)(cid:21)
Although (2.11) is expected, both on physical grounds andalso on the basis of Noether’s
first theorem, the present discussion emphasizes the intricate coupling between the
internal energy equation (2.9) and the kinetic and gravitational energy equation via
the pressure work terms ±u·∇p in (2.9)-(2.10).
In the next section we describe the Lagrangian action principle approach to the gas
dynamic equations.
3. Lagrangian gas dynamics
The gas dynamic equations (2.1)-(2.11) can be derived by requiring that the action:
A = L d3xdt = L d3x dt ≡ L d3mdt, (3.1)
0 0 m
Z Z Z
is stationary. In (3.1) the Lagrangian map is used in which the differential equations:
dx/dt = u(x,t) are formally integrated for a given fluid velocity u(x,t) to obtain the
Lagrangian map equations: x = x(x ,t) where x = x at time t = 0. The map is
0 0
assumed to be a diffeomorphism, i.e. it is 1-1 and invertible, with inverse x = x (x,t),
0 0
in which x is advected with the background flow, i.e.
0
∂x ∂x
0 +u· 0 = 0. (3.2)
∂t ∂x
We use Lagrange labels m = m(x ) so that the mass continuity equation can be written
0
in the form:
ρd3x = ρ (x )d3x = d3m, (3.3)
0 0 0
Vorticity and Symplecticity in Lagrangian Gas Dynamics 8
which implies
ρJ = ρ and ρJ = 1, (3.4)
0 0
where
J = det ∂xi/∂xj and J = det ∂xi/∂mj . (3.5)
0 0
The labels m are Lagrangian(cid:0)mass co(cid:1)ordinates, and J (cid:0)and J are(cid:1)the Jacobians of the
0
Lagrangian maps: x = x(x ,t) and x = x(m,t) respectively. The Lagrange labels
0
m = m(x ) are advected with the background fluid flow (i.e. they satisfy (3.2) but with
0
x → m). (3.4) is equivalent to the Lagrangian mass continuity equation.
0
For the model (2.1)-(2.11), the Lagrangian L is given by:
1
L = ρu2 −ε(ρ,S)−ρΦ(x). (3.6)
2
Using (3.1)-(3.6) gives:
L 1 ε(ρ,S)
L = = u2 −e(τ,S)−Φ(x) where e(τ,S) = , (3.7)
m
ρ 2 ρ
for the Lagrange density in Lagrangian mass coordinates, where
∂x(m,t) 1
u = and ρ = , (3.8)
∂t J
give u and ρ in terms of the Lagrangian map.
If xi and mj are Cartesian coordinates, then the equations:
∂xi ∂mj
x y = δ , x = , y = ,
ij jk ik ij ∂mj jk ∂xk
A
ji
y = , A = cofac(x ), (3.9)
ij ij ij
J
describe the derivatives of the map with respect to x and m. For the case of n = 3
space dimensions, A = cofac(x ) is given by:
ij ij
1
A = ǫ ǫ x x , (3.10)
ij iab jpq ap bq
2
where ǫ is the Levi-Civita tensor density (e.g Newcomb (1962), Webb et al. (2005)).
ijk
Other formulae for A apply in other cases (e.g. for 2 space dimensions). These
ij
relations can be generalized to generalized coordinates qi = qi(m,t), but in that case
the metric g = e ·e is important in describing the system where e = ∂q/∂xi are
ij i j i
holonomic base vectors. In the present analysis we use Cartesian coordinates, (q0 = t
and qi = xi (1 ≤ i ≤ n) are Cartesian coordinates). A more general formulation, would
use generalized coordinates and possibly the variational bi-complex.
We use the contravariant base vectors e = ∂x/∂mα and the dual covariant base
α
vectors eα = ∂mα/∂x. One can show that
e ×e = Jǫ eγ, eα ×eβ = jǫ e , 1 ≤ α,β ≤ n, (3.11)
α β αβγ αβγ γ
Vorticity and Symplecticity in Lagrangian Gas Dynamics 9
where j = det(y ) = 1/J.
ij
For the case n = 2 (i.e. for 2 Cartesian space dimensions), the co-factor matrix A
ij
is given by:
x −x
A = 22 21 . (3.12)
ij
−x x
12 11 !
The Lagrangian mass continuity equation has two aspects. From (3.3)-(3.4) we
require
ρJ = 1 or J −τ = 0, (3.13)
We also require that
d dJ
(τ −J) = τ − = 0. (3.14)
t
dt dt
The latter equation, can be written in the form:
∂J ∂x ∂ui
ij
τ − = τ −A = 0, (3.15)
t ∂x ∂t t ij∂mj
ij
(note that ∂x /∂t = ∂ui/∂mj). Taking into account the constraints (3.13)-(3.15) we
ij
introduce the constrained Lagrangian:
1 dS dµk
ℓ = u2 −e(τ,S)−Φ(x)+r +λk
m
2 dt dt
∂xi d
+Λi ui − +ν(J −τ)+ζ (τ −J), (3.16)
∂t dt
(cid:18) (cid:19)
where the µk correspond to the so-called Lin constraints (e.g. Holm and Kupershmidt
(1983a,b)). The continuity constraint terms in (3.16) can be written in the form:
d
(ν +ζ )(J −τ)+ [ζ(τ −J)], (3.17)
t
dt
Using (3.17) in (3.16) it follows that the Lagrangian ℓ in (3.16) can be replaced by
m
1 dS dµk
ℓ = u2 −e(τ,S)−Φ(x)+r +λk
m
2 dt dt
∂xi
+Λi ui − +(ν +ζ )(J −τ), (3.18)
t
∂t
(cid:18) (cid:19)
because two Lagrangians L and L which differ by a perfect derivative or divergence
1 2
term have the same Euler Lagrange equations (e.g. Bluman and Kumei (1989)). The
continuity equation constraint term in (3.18) can be written in the forms:
˜ ˜
(ν +ζ )(J −τ) ≡ ν˜(J −τ) ≡ ζ (J −τ) where ν˜ = ζ = ν +ζ . (3.19)
t t t t
Thus, the continuity equation constraint involves only one Lagrange multiplier, i.e. one
˜
can use either ν˜ or ζ as the Lagrange multiplier. Since
t
d d
˜ ˜ ˜
ζ (J −τ) ≡ ζ(J −τ) −ζ (J −τ), (3.20)
t
dt dt
(cid:16) (cid:17)
Vorticity and Symplecticity in Lagrangian Gas Dynamics 10
then
1 dS dµk
ℓ = u2 −e(τ,S)−Φ(x)+r +λk
m
2 dt dt
∂xi d
+Λi ui − +ζ˜ (τ −J), (3.21)
∂t dt
(cid:18) (cid:19)
is another form of ℓ that gives the correct Euler Lagrange equations. This latter form
m
of ℓ is useful in the Eulerian Clebsch potential formulation of the variational principle
m
as developed by Zakharov and Kuznetsov (1997) (see Appendix A).
Below we use the Lagrangian:
1 dS ∂xi dµk
ℓ = u2 −e(τ,S)−Φ(x)+r +Λi ui − +ν˜(J −τ)+λk . (3.22)
m0
2 dt ∂t dt
(cid:18) (cid:19)
It turns out that the Euler-Lagrange equations using the Lagrangian (3.22) for the µk
and λk Clebsch potentials decouple from the other Euler-Lagrange equations. We show
that the µk and λk do not contribute to the pullback and symplecticity conservation
laws in Section 5. This is a consequence of the fact that the µk and λk are advected
with the fluid.
The constraint terms in the Lagrangian (3.22) are nonholonomic constraints, and
are examples of the Skinner-Rusk construction [Skinner and Rusk (1983a, 1983b),
Cantrijn and Vankerschaver (2007), Llibre et al. (2014)]. The nonholonomic constraint
terms are sometimes referred to as vakonomic constraints ( e.g. Llibre et al. (2014);
the term vakonomic stands for “variational axiomatic kind” a term coined by Kozlov).
In the term Λi(ui − ∂xi/∂t) in (3.22) u − ∂x/∂t lies in the tangent space TQ and Λi
∗
is the ith component of a co-vector in the co-tangent space T Q (i.e. the dual of the
vector space TQ). The Skinner-Rusk construction doesnot necessarily imply a standard
Hamiltonian system, in which the canonical momenta are constructed by the Legendre
transformation, since the Lagrangian may be singular.
3.1. The Euler Lagrange equations
In this section, we obtain the Euler Lagrange equations for the action (3.1) in which the
Lagrangian ℓ is given by (3.22) and has the functional form:
m
ℓ = ℓ (x,u,τ,S,r,Λ,x ,ν,x ,µk,λk), (3.23)
m m it ij
